nodes:
  - id: piper_left
    path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py
    _unstable_deploy:
      machine: piper
    inputs:
      tick: dora/timer/millis/20
    outputs:
      - jointstate
    env:
      CAN_BUS: can_left

  - id: camera_left
    path: /home/agilex/1ms.ai/pyorbbecsdk/examples/color_viewer.py
    _unstable_deploy:
      machine: piper
    inputs:
      tick: dora/timer/millis/50
    outputs:
      - image
    env:
      DEVICE_INDEX: 0
      ENCODING: jpeg

  - id: camera_center
    path: /home/agilex/1ms.ai/pyorbbecsdk/examples/color_viewer.py
    _unstable_deploy:
      machine: piper
    inputs:
      tick: dora/timer/millis/50
    outputs:
      - image
    env:
      DEVICE_INDEX: 1
      ENCODING: jpeg

  - id: camera_right
    path: /home/agilex/1ms.ai/pyorbbecsdk/examples/color_viewer.py
    _unstable_deploy:
      machine: piper
    inputs:
      tick: dora/timer/millis/50
    outputs:
      - image
    env:
      DEVICE_INDEX: 2
      ENCODING: jpeg
      # import opencv as cv
      # [cv2.VideoCapture(i) for i in range(12)]

  - id: piper_right
    path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py
    _unstable_deploy:
      machine: piper
    inputs:
      tick: dora/timer/millis/20
    outputs:
      - jointstate
    env:
      CAN_BUS: can_right

  - id: rerun
    path: dora-rerun1
    inputs:
      jointstate_piper_left: piper_left/jointstate
      jointstate_piper_right: piper_right/jointstate
      image_camera_left: camera_left/image
      image_camera_center: camera_center/image
      image_camera_right: camera_right/image
    env:
      piper_left_urdf: assets/piper_left.urdf
      piper_right_urdf: assets/piper_right.urdf
      piper_left_transform: 0 0.2 0
      piper_right_transform: 0 -0.2 0
